Advertisement

Adaptive Dynamic Surface Fuzzy Control for a Class of Uncertain Nonlinear Systems

  • Chen Gang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4223)

Abstract

Adaptive dynamic surface fuzzy control approach is proposed for a class of uncertain nonlinear systems in strict-feedback form. The dynamic surface control technique is introduced to overcome the problem of explosion of terms associated with backstepping design method. Fuzzy logic system is used as a universal approximator to approximate unstructured uncertain functions and the bounds of the reconstruction error is estimated online. The algorithm has the adaptive mechanism with minimum learning parameterizations. Furthermore, all the signals in the closed-loop systems are guaranteed to be semi-globally uniformly ultimately bounded and the output of the system is proved to converge to a small neighborhood of the desired trajectory. The control performance can be guaranteed by an appropriate choice of the design parameters. Simulation results demonstrate the effectiveness of the proposed control method.

Keywords

Fuzzy Control Fuzzy Logic System Uncertain Nonlinear System Adaptive Fuzzy Control Negative Small 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Kokotovic, P.V.: The Joy of Feedback. IEEE Contr. Syst. Mag. 3, 7–17 (1992)CrossRefGoogle Scholar
  2. 2.
    Swaroop, D., Gerdes, C., Yip, P.P., Herdrick, J.K.: Dynamic Surface Control for a Class of Nonlinear Systems. IEEE Trans. Autom. Control. 45, 1893–1899 (2000)MATHCrossRefGoogle Scholar
  3. 3.
    Wang, D., Huang, J.: Neural Network-Based Adaptive Dynamic Surface Control for a Class of Uncertain Nonlinear Systems in Strict-Feedback Form. IEEE Trans. Neural Networks 16, 195–202 (2005)CrossRefGoogle Scholar
  4. 4.
    Wang, L.X.: Adaptive Fuzzy Systems and Control: Design and Stability Analysis. Prentice-Hall, Englewood Cliffs (1994)Google Scholar
  5. 5.
    Chen, G., Wang, S., Zhang, J.: Robust and Adaptive Backstepping Control for Nonlinear Systems Using Fuzzy Logic Systems. In: Wang, L., Jin, Y. (eds.) FSKD 2005. LNCS (LNAI), vol. 3614, pp. 452–461. Springer, Heidelberg (2005)CrossRefGoogle Scholar
  6. 6.
    Chen, G., Wang, S.: Robust Control of Time-Varying Nonlinear Systems with Unknown Control Directions. Control and Decision 20, 1397–1400 (2005)MATHGoogle Scholar
  7. 7.
    Yang, Y., Feng, G., Ren, J.: A Combined Backstepping and Small-Gain Approach to Robust Adaptive Fuzzy Control for Strict-Feedback Nonlinear Systems. IEEE Trans. Syst. Man, Cybern. 34, 406–420 (2004)CrossRefGoogle Scholar
  8. 8.
    Chen, G., Wang, S., Zhang, J.: Robust Adaptive Fuzzy Control for Uncertain Nonlinear Systems. In: Wang, L., Jin, Y. (eds.) FSKD 2005. LNCS (LNAI), vol. 3613, pp. 841–850. Springer, Heidelberg (2005)CrossRefGoogle Scholar
  9. 9.
    Jagannathan, S., Lewis, F.L.: Robust Backstepping Control of a Class of Nonlinear Systems Using Fuzzy Logic. Inform. Sci. 123, 223–240 (2000)MATHCrossRefMathSciNetGoogle Scholar
  10. 10.
    Chen, G., Wang, S.: Robust Control For Multi-fingered Hand Manipulation in a Constrained Environment. Acta Automatica Sinica 31, 901–906 (2005)Google Scholar
  11. 11.
    Chen, G., Wang, S.: Dynamic Control of Four-Fingered Hand Manipulation with Sliding. Proceedings of the World Congress on Intelligent Control and Automation 6, 4855–4859 (2004)CrossRefGoogle Scholar
  12. 12.
    Chen, G., Wang, S., Zhang, J.: Adaptive Neural Network Control for Multi-fingered Robot Hand Manipulation in the Constrained Environment. In: Wang, L., Chen, K., S. Ong, Y. (eds.) ICNC 2005. LNCS, vol. 3611, pp. 270–273. Springer, Heidelberg (2005)CrossRefGoogle Scholar
  13. 13.
    Zheng, F., Wang, Q.G., Lee, T.H.: Adaptive and Robust Controller Design for Uncertain Nonlinear Systems via Fuzzy Modeling Approach. IEEE Trans. Syst. Man, Cybern. 34, 166–178 (2004)Google Scholar
  14. 14.
    Lee, H.J., Park, J.B., Chen, G.: Robust Fuzzy Control of Nonlinear Systems with Parameter Uncertainties. IEEE Trans. Fuzzy Syst. 9, 369–379 (2001)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Chen Gang
    • 1
  1. 1.College of AutomationChongqing UniversityChongqingChina

Personalised recommendations